@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118671,
    title ="Safety-Critical Control With Input Delay in Dynamic Environment",
    author = "Molnár, Tamás G. and Kiss, Adam K. and Ames, Aaron D. and Orosz, Gábor",
    journal = "IEEE Transactions on Control Systems Technology",
    
    
    
    month = "December",
    year = "2022",
    doi = "https://doi.org/10.1109/tcst.2022.3227451",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20230104-586485300.10",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118471,
    title ="Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data",
    author = "Akella, Prithvi and Wei, Skylar X. and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "December",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234112304",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118470,
    title ="Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion",
    author = "Fawcett, Randall T. and Amanzadeh, Leila and Kim, Jeeseop and Ames, Aaron D. and Akbari Hamed, Kaveh",
    journal = "arXiv",
    
    
    
    month = "November",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234108951",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118469,
    title ="Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches",
    author = "Kim, Jeeseop and Fawcett, Randall T. and Kamidi, Vinay R. and Ames, Aaron D. and Akbari Hamed, Kaveh",
    journal = "arXiv",
    
    
    
    month = "November",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234105589",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118468,
    title ="Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows",
    author = "Badithela, Apurva and Graebener, Josefine B. and Ubellacker, Wyatt and Mazumdar, Eric V. and Ames, Aaron D. and Murray, Richard M.",
    journal = "arXiv",
    
    
    
    month = "October",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234102223",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118467,
    title ="Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control",
    author = "Gehlhar, Rachel and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234058866",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118466,
    title ="Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors",
    author = "Csomay-Shanklin, Noel and Dorobantu, Victor D. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234055506",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118465,
    title ="Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization",
    author = "Tucker, Maegan and Csomay-Shanklin, Noel and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234052140",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118464,
    title ="Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking",
    author = "Dai, Min and Xiong, Xiaobin and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234048774",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118472,
    title ="POLAR: Preference Optimization and Learning Algorithms for Robotics",
    author = "Tucker, Maegan and Li, Kejun and Yue, Yisong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "August",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234115665",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115855,
    title ="Active space control of underactuated robots: From adaptation to robustness to optimality",
    author = "Azimi, Vahid and Farzan, Siavash and Ames, Aaron D. and Vela, Patricio A. and Hutchinson, Seth",
    journal = "International Journal of Adaptive Control and Signal Processing",
    
    
    
    month = "July",
    year = "2022",
    doi = "https://doi.org/10.1002/acs.3470",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220726-997464000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115937,
    title ="A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems",
    author = "Akella, Prithvi and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    
    
    
    month = "July",
    year = "2022",
    doi = "https://doi.org/10.1109/LRA.2022.3192805",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220728-729449000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115564,
    title ="Safety-Critical Manipulation for Collision-Free Food Preparation",
    author = "Singletary, Andrew and Guffey, William and Molnár, Tamás G. and Sinnet, Ryan and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "7",
    number = "4",
    pages = "10954-10961",
    month = "July",
    year = "2022",
    doi = "https://doi.org/10.1109/LRA.2022.3192634",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194307878",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118463,
    title ="Safe Drone Flight with Time-Varying Backup Controllers",
    author = "Singletary, Andrew and Swann, Aiden and Jimenez Rodriguez, Ivan Dario and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "July",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234045414",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115637,
    title ="Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models",
    author = "Pandala, Abhishek and Fawcett, Randall T. and Rosolia, Ugo and Ames, Aaron D. and Hamed, Kaveh Akbari",
    journal = "IEEE Robotics and Automation Letters",
    volume = "7",
    number = "3",
    pages = "6622-6629",
    month = "July",
    year = "2022",
    doi = "https://doi.org/10.1109/lra.2022.3176105",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220715-535824900",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115512,
    title ="Toward a Data-Driven Template Model for Quadrupedal Locomotion",
    author = "Fawcett, Randall T. and Afsari, Kereshmeh and Ames, Aaron D. and Hamed, Kaveh Akbari",
    journal = "IEEE Robotics and Automation Letters",
    volume = "7",
    number = "3",
    pages = "7636-7643",
    month = "July",
    year = "2022",
    doi = "https://doi.org/10.1109/LRA.2022.3184007",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220712-629677000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115363,
    title ="Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions",
    author = "Singletary, Andrew and Ahmadi, Mohamadreza and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "7",
    
    pages = "349-354",
    month = "June",
    year = "2022",
    doi = "https://doi.org/10.1109/LCSYS.2022.3187458",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220707-315696000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115713,
    title ="Unified Multi-Rate Control: From Low-Level Actuation to High-Level Planning",
    author = "Rosolia, Ugo and Singletary, Andrew and Ames, Aaron D.",
    journal = "IEEE Transactions on Automatic Control",
    
    
    
    month = "June",
    year = "2022",
    doi = "https://doi.org/10.1109/TAC.2022.3184664",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220721-7910000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115567,
    title ="Control Barrier Functionals: Safety-critical Control for Time Delay Systems",
    author = "Kiss, Adam K. and Molnár, Tamás G. and Ames, Aaron D. and Orosz, Gábor",
    journal = "arXiv",
    
    
    
    month = "June",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194319224",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115566,
    title ="Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles",
    author = "Alan, Anil and Taylor, Andrew J. and He, Chaozhe R. and Ames, Aaron D. and Orosz, Gábor",
    journal = "arXiv",
    
    
    
    month = "June",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194315874",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115151,
    title ="Safety and Efficiency in Robotics: The Control Barrier Functions Approach",
    author = "Ferraguti, Federica and Talignani Landi, Chiara and Singletary, Andrew and Lin, Hsien-Chung and Ames, Aaron and Secchi, Cristian and Bonfe, Marcello",
    journal = "IEEE Robotics and Automation Magazine",
    
    
    
    month = "June",
    year = "2022",
    doi = "https://doi.org/10.1109/MRA.2022.3174699",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220614-222253000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115565,
    title ="Input-to-State Safety with Input Delay in Longitudinal Vehicle Control",
    author = "Molnár, Tamás G. and Alan, Anil and Kiss, Adam K. and Ames, Aaron D. and Orosz, Gábor",
    journal = "arXiv",
    
    
    
    month = "May",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194311772",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115563,
    title ="Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification",
    author = "Akella, Prithvi and Dixit, Anushri and Ahmadi, Mohamadreza and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "April",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194303859",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115562,
    title ="Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies",
    author = "Jimenez Rodriguez, Ivan Dario and Csomay-Shanklin, Noel and Yue, Yisong and Ames, Aaron D.",
    journal = "Proceedings of Machine Learning Research",
    volume = "168",
    
    pages = "1060-1072",
    month = "April",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194300374",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115226,
    title ="Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots",
    author = "Kamidi, Vinay R. and Kim, Jeeseop and Fawcett, Randall T. and Ames, Aaron D. and Hamed, Kaveh Akbari",
    journal = "IEEE Control Systems Letters",
    volume = "6",
    
    pages = "2509-2514",
    month = "April",
    year = "2022",
    doi = "https://doi.org/10.1109/lcsys.2022.3167795",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220622-681692100",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115561,
    title ="Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization",
    author = "Ong, Pio and Bahati, Gilbert and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "April",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194256328",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115559,
    title ="Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions",
    author = "Csomay-Shanklin, Noel and Taylor, Andrew J. and Rosolia, Ugo and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "April",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194248368",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115560,
    title ="Safe Backstepping with Control Barrier Functions",
    author = "Taylor, Andrew J. and Ong, Pio and Molnár, Tamás G. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "April",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194252464",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113935,
    title ="Interactive Multi-Modal Motion Planning With Branch Model Predictive Control",
    author = "Chen, Yuxiao and Rosolia, Ugo and Ubellacker, Wyatt and Csomay-Shanklin, Noel and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "7",
    number = "2",
    pages = "5365-5372",
    month = "April",
    year = "2022",
    doi = "https://doi.org/10.1109/LRA.2022.3156648",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220317-375745000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/112798,
    title ="Model-Free Safety-Critical Control for Robotic Systems",
    author = "Molnár, Tamás G. and Cosner, Ryan K. and Singletary, Andrew W. and Ubellacker, Wyatt and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "7",
    number = "2",
    pages = "944-951",
    month = "April",
    year = "2022",
    doi = "https://doi.org/10.1109/lra.2021.3135569",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220107-191565600",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113404,
    title ="Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics",
    author = "Li, Kejun and Tucker, Maegan and Gehlhar, Rachel and Yue, Yisong and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "7",
    number = "2",
    pages = "4283-4290",
    month = "April",
    year = "2022",
    doi = "https://doi.org/10.1109/LRA.2022.3149568",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220210-721740000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113592,
    title ="Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions",
    author = "Singletary, Andrew and Swann, Aiden and Chen, Yuxiao and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "7",
    number = "2",
    pages = "2897-2904",
    month = "April",
    year = "2022",
    doi = "https://doi.org/10.1109/LRA.2022.3144777",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200854184",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113763,
    title ="Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control with Real-Time Force Sensing",
    author = "Gehlhar, Rachel and Yang, Je-han and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "7",
    number = "2",
    pages = "5151-5158",
    month = "April",
    year = "2022",
    doi = "https://doi.org/10.1109/lra.2022.3154810",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220307-188387000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/114094,
    title ="Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models",
    author = "Taylor, Andrew J. and Dorobantu, Victor D. and Cosner, Ryan K. and Yue, Yisong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "March",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220325-224027516",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/114095,
    title ="Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics",
    author = "Galliker, Manuel Y. and Csomay-Shanklin, Noel and Grandia, Ruben and Taylor, Andrew J. and Farshidian, Farbod and Hutter, Marco and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "March",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220325-224420513",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/114092,
    title ="Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision",
    author = "Cosner, Ryan K. and Jimenez Rodriguez, Ivan D. and Molnar, Tamas G. and Ubellacker, Wyatt and Yue, Yisong and Ames, Aaron D. and Bouman, Katherine L.",
    journal = "arXiv",
    
    
    
    month = "March",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220325-220806703",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113764,
    title ="3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization",
    author = "Xiong, Xiaobin and Ames, Aaron",
    journal = "IEEE Transactions on Robotics",
    
    
    
    month = "March",
    year = "2022",
    doi = "https://doi.org/10.1109/TRO.2022.3150219",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220307-188394000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115590,
    title ="LyaNet: A Lyapunov Framework for Training Neural ODEs",
    author = "Jimenez Rodriguez, Ivan Dario and Ames, Aaron D. and Yue, Yisong",
    journal = "Proceedings of Machine Learning Research",
    
    
    pages = "18687-18703",
    month = "February",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-224552040",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113606,
    title ="LyaNet: A Lyapunov Framework for Training Neural ODEs",
    author = "Jimenez Rodriguez, Ivan Dario and Ames, Aaron D. and Yue, Yisong",
    journal = "arXiv",
    
    
    
    month = "February",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200943137",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113590,
    title ="Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification",
    author = "Akella, Prithvi and Ubellacker, Wyatt and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "January",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200847369",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109063,
    title ="Iterative Model Predictive Control for Piecewise Systems",
    author = "Rosolia, Ugo and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "6",
    
    pages = "842-847",
    month = "January",
    year = "2022",
    doi = "https://doi.org/10.1109/LCSYS.2021.3086561",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210511-072911881",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109068,
    title ="Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions",
    author = "Garg, Kunal and Cosner, Ryan K. and Rosolia, Ugo and Ames, Aaron D. and Panagou, Dimitra",
    journal = "IEEE Control Systems Letters",
    volume = "6",
    
    pages = "608-613",
    month = "January",
    year = "2022",
    doi = "https://doi.org/10.1109/LCSYS.2021.3084322",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210511-083656642",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106555,
    title ="Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion",
    author = "Ahmadi, Mohamadreza and Xiong, Xiaobin and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "6",
    
    pages = "878-883",
    month = "January",
    year = "2022",
    doi = "https://doi.org/10.1109/LCSYS.2021.3086854",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140945703",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/108587,
    title ="Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions",
    author = "Alan, Anil and Taylor, Andrew J. and He, Chaozhe R. and Orosz, Gábor and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "6",
    
    pages = "908-913",
    month = "January",
    year = "2022",
    doi = "https://doi.org/10.1109/LCSYS.2021.3087443",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210331-070249507",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106567,
    title ="Safety-Critical Kinematic Control of Robotic Systems",
    author = "Singletary, Andrew and Kolathaya, Shishir and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "6",
    
    pages = "139-144",
    month = "January",
    year = "2022",
    doi = "https://doi.org/10.1109/LCSYS.2021.3050609",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-155517556",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109030,
    title ="Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs",
    author = "Taylor, Andrew J. and Dorobantu, Victor D. and Yue, Yisong and Tabuada, Paulo and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "6",
    
    pages = "680-685",
    month = "January",
    year = "2022",
    doi = "https://doi.org/10.1109/LCSYS.2021.3085172",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210510-100142166",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113589,
    title ="Safety-Aware Preference-Based Learning for Safety-Critical Control",
    author = "Cosner, Ryan K. and Tucker, Maegan and Taylor, Andrew J. and Li, Kejun and Molnár, Tamás G. and Ubellacker, Wyatt and Alan, Anil and Orosz, Gábor and Yue, Yisong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "December",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200843937",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113588,
    title ="Safety-Critical Control with Input Delay in Dynamic Environment",
    author = "Molnar, Tamas G. and Kiss, Adam K. and Ames, Aaron D. and Orosz, Gábor",
    journal = "arXiv",
    
    
    
    month = "December",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200840486",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109061,
    title ="Backup Control Barrier Functions: Formulation and Comparative Study",
    author = "Chen, Yuxiao and Jankovic, Mrdjan and Santillo, Mario and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "6835-6841",
    month = "December",
    year = "2021",
    doi = "https://doi.org/10.1109/CDC45484.2021.9683111",
    isbn = "978-1-6654-3659-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210510-141404463",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113412,
    title ="Estimate-to-State Stability for Hybrid Human-Prosthesis Systems",
    author = "Gehlhar, Rachel and Ames, Aaron D.",
    
    
    
    pages = "705-712",
    month = "December",
    year = "2021",
    doi = "https://doi.org/10.1109/CDC45484.2021.9683029",
    isbn = "978-1-6654-3659-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220210-721856000",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109065,
    title ="Risk-Averse Stochastic Shortest Path Planning",
    author = "Ahmadi, Mohamadreza and Dixit, Anushri and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "5199-5204",
    month = "December",
    year = "2021",
    doi = "https://doi.org/10.1109/CDC45484.2021.9683527",
    isbn = "978-1-6654-3659-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210511-082139184",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113410,
    title ="Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation",
    author = "Xiong, Xiaobin and Chen, Yuxiao and Ames, Aaron D.",
    
    
    
    pages = "697-704",
    month = "December",
    year = "2021",
    doi = "https://doi.org/10.1109/CDC45484.2021.9683065",
    isbn = "978-1-6654-3659-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220210-721805000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/112690,
    title ="Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers",
    author = "Fawcett, Randall T. and Pandala, Abhishek and Ames, Aaron D. and Akbari Hamed, Kaveh",
    journal = "IEEE Control Systems Letters",
    volume = "6",
    
    pages = "1736-1741",
    month = "December",
    year = "2021",
    doi = "https://doi.org/10.1109/lcsys.2021.3133198",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220104-181287300",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109069,
    title ="Time-Optimal Navigation in Uncertain Environments with High-Level Specifications",
    author = "Rosolia, Ugo and Ahmadi, Mohamadreza and Murray, Richard M. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "4287-4294",
    month = "December",
    year = "2021",
    doi = "https://doi.org/10.1109/CDC45484.2021.9683486",
    isbn = "978-1-6654-3659-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210511-085123358",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107611,
    title ="Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty",
    author = "Taylor, Andrew J. and Dorobantu, Victor D. and Dean, Sarah and Recht, Benjamin and Yue, Yisong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "6469-6476",
    month = "December",
    year = "2021",
    doi = "https://doi.org/10.1109/CDC45484.2021.9683511",
    isbn = "978-1-6654-3659-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210120-165235061",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107467,
    title ="Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators",
    author = "Folkestad, Carl and Chen, Yuxiao and Ames, Aaron D. and Burdick, Joel W.",
    journal = "IEEE Control Systems Letters",
    volume = "5",
    number = "6",
    pages = "2012-2017",
    month = "December",
    year = "2021",
    doi = "https://doi.org/10.1109/lcsys.2020.3046159",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210113-163505361",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107465,
    title ="Online Decentralized Decision Making With Inequality Constraints: An ADMM approach",
    author = "Chen, Yuxiao and Santillo, Mario and Jankovic, Mrdjan and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "5",
    number = "6",
    pages = "2156-2161",
    month = "December",
    year = "2021",
    doi = "https://doi.org/10.1109/lcsys.2020.3044873",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210113-163505184",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106550,
    title ="Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays",
    author = "Molnár, Tamás G. and Singletary, Andrew W. and Orosz, Gábor and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "5",
    number = "5",
    pages = "1537-1542",
    month = "November",
    year = "2021",
    doi = "https://doi.org/10.1109/LCSYS.2020.3040948",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140935453",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113582,
    title ="Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments",
    author = "Johansson, Kasper and Rosolia, Ugo and Ubellacker, Wyatt and Singletary, Andrew and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "October",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200818977",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/111574,
    title ="Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion",
    author = "Sun, Yu and Ubellacker, Wyatt L. and Ma, Wen-Loong and Zhang, Xiang and Wang, Changhao and Csomay-Shanklin, Noel V. and Tomizuka, Masayoshi and Sreenath, Koushil and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "6",
    number = "4",
    pages = "8442-8449",
    month = "October",
    year = "2021",
    doi = "https://doi.org/10.1109/lra.2021.3108510",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20211021-172748746",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109029,
    title ="Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control",
    author = "Jimenez Rodriguez, Ivan D. and Rosolia, Ugo and Ames, Aaron D. and Yue, Yisong",
    journal = "arXiv",
    
    
    pages = "3896-3903",
    month = "September",
    year = "2021",
    doi = "https://doi.org/10.1109/IROS51168.2021.9636786",
    isbn = "978-1-6654-1714-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210510-095024771",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109060,
    title ="Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State",
    author = "Cosner, Ryan K. and Singletary, Andrew W. and Taylor, Andrew J. and Molnar, Tamás G. and Bouman, Katherine L. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "6286-6291",
    month = "September",
    year = "2021",
    doi = "https://doi.org/10.1109/IROS51168.2021.9636584",
    isbn = "978-1-6654-1715-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210510-141401087",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109994,
    title ="Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots",
    author = "Ubellacker, Wyatt and Csomay-Shanklin, Noel and Molnár, Tamás G. and Ames, Aaron D.",
    
    
    
    pages = "8477-8484",
    month = "September",
    year = "2021",
    doi = "https://doi.org/10.1109/IROS51168.2021.9636537",
    isbn = "978-1-6654-1715-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210723-170216413",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113580,
    title ="Risk-Averse Decision Making Under Uncertainty",
    author = "Ahmadi, Mohamadreza and Rosolia, Ugo and Ingham, Michel D. and Murray, Richard M. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200812106",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/112675,
    title ="Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking",
    author = "Westenbroek, Tyler and Xiong, Xiaobin and Sastry, S. Shankar and Ames, Aaron D.",
    journal = "IFAC-PapersOnLine",
    volume = "54",
    number = "5",
    pages = "181-186",
    month = "September",
    year = "2021",
    doi = "https://doi.org/10.1016/j.ifacol.2021.08.495",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220104-157181000",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109821,
    title ="Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury",
    author = "Kerdraon, Jacques and Previnaire, Jean Gabriel and Tucker, Maegan and Coignard, Pauline and Allegre, Willy and Knappen, Emmanuel and Ames, Aaron",
    journal = "Spinal Cord Series and Cases: Clinical Management in Spinal Cord Disorders",
    volume = "7",
    
    pages = "Art. No. 71",
    month = "August",
    year = "2021",
    doi = "https://doi.org/10.1038/s41394-021-00432-3",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210714-191344383",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109987,
    title ="Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking",
    author = "Reher, Jenna and Ames, Aaron D.",
    
    
    
    
    month = "July",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210722-222549674",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104244,
    title ="A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety",
    author = "Taylor, Andrew J. and Singletary, Andrew and Yue, Yisong and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "5",
    number = "3",
    pages = "1019-1024",
    month = "July",
    year = "2021",
    doi = "https://doi.org/10.1109/LCSYS.2020.3009082",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200707-104322686",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104248,
    title ="Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion",
    author = "Ma, Wen-Loong and Csomay-Shanklin, Noel and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "5",
    number = "3",
    pages = "935-940",
    month = "July",
    year = "2021",
    doi = "https://doi.org/10.1109/LCSYS.2020.3006963",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200707-110517874",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107613,
    title ="Decentralized Task and Path Planning for Multi-Robot Systems",
    author = "Chen, Yuxiao and Rosolia, Ugo and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "6",
    number = "3",
    pages = "4337-4344",
    month = "July",
    year = "2021",
    doi = "https://doi.org/10.1109/LRA.2021.3068103",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210120-165241963",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104333,
    title ="Integral Control Barrier Functions for Dynamically Defined Control Laws",
    author = "Ames, Aaron D. and Notomista, Gennaro and Wardi, Yorai and Egerstedt, Magnus",
    journal = "IEEE Control Systems Letters",
    volume = "5",
    number = "3",
    pages = "887-892",
    month = "July",
    year = "2021",
    doi = "https://doi.org/10.1109/lcsys.2020.3006764",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200710-140738518",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104816,
    title ="Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping",
    author = "Chang, Alexander H. and Hubicki, Christian M. and Aguilar, Jeffrey J. and Goldman, Daniel I. and Ames, Aaron D. and Vela, Patricio A.",
    journal = "IEEE Transactions on Control Systems Technology",
    volume = "29",
    number = "4",
    pages = "1581-1596",
    month = "July",
    year = "2021",
    doi = "https://doi.org/10.1109/tcst.2020.3009636",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200807-102400461",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104247,
    title ="Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies",
    author = "Rosolia, Ugo and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "5",
    number = "3",
    pages = "1007-1012",
    month = "July",
    year = "2021",
    doi = "https://doi.org/10.1109/LCSYS.2020.3008326",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200707-110214475",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104220,
    title ="Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions",
    author = "Taylor, Andrew J. and Ong, Pio and Cortés, Jorge and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "5",
    number = "3",
    pages = "749-754",
    month = "July",
    year = "2021",
    doi = "https://doi.org/10.1109/lcsys.2020.3005101",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200706-084348576",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109395,
    title ="Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety",
    author = "Csomay-Shanklin, Noel and Cosner, Ryan K. and Dai, Min and Taylor, Andrew J. and Ames, Aaron D.",
    journal = "Proceedings of Machine Learning Research",
    volume = "144",
    
    pages = "1041-1053",
    month = "June",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210604-142541635",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107614,
    title ="Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots",
    author = "Tucker, Maegan and Csomay-Shanklin, Noel and Ma, Wen-Loong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2804-2810",
    month = "June",
    year = "2021",
    doi = "https://doi.org/10.1109/ICRA48506.2021.9561515",
    isbn = "978-1-7281-9077-8",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210120-165245372",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107615,
    title ="ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes",
    author = "Li, Kejun and Tucker, Maegan and Bıyık, Erdem and Novoseller, Ellen and Burdick, Joel W. and Sui, Yanan and Sadigh, Dorsa and Yue, Yisong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "3212-3218",
    month = "May",
    year = "2021",
    doi = "https://doi.org/10.1109/ICRA48506.2021.9560840",
    isbn = "978-1-7281-9077-8",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210120-165248789",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109394,
    title ="Model-Dependent Prosthesis Control with Real-Time Force Sensing",
    author = "Gehlhar, Rachel and Yang, Je-han and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "May",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210604-142538125",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107610,
    title ="Constrained Risk-Averse Markov Decision Processes",
    author = "Ahmadi, Mohamadreza and Rosolia, Ugo and Ingham, Michel D. and Murray, Richard M. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "11718-11725",
    month = "May",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210120-165231602",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/110419,
    title ="Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation",
    author = "Maghenem, Mohamed and Taylor, Andrew J. and Ames, Aaron D. and Sanfelice, Ricardo G.",
    
    
    
    pages = "2418-2423",
    month = "May",
    year = "2021",
    doi = "https://doi.org/10.23919/acc50511.2021.9482871",
    isbn = "978-1-6654-4197-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210825-154135958",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/110418,
    title ="Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach",
    author = "Kiss, Adam K. and Molnár, Tamás G. and Bachrathy, Dániel and Ames, Aaron D. and Orosz, Gábor",
    
    
    
    pages = "1058-1063",
    month = "May",
    year = "2021",
    doi = "https://doi.org/10.23919/acc50511.2021.9482688",
    isbn = "978-1-6654-4197-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210825-152426141",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/112508,
    title ="Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning",
    author = "Xiong, Xiaobin and Reher, Jenna and Ames, Aaron D.",
    
    
    
    pages = "2825-2831",
    month = "May",
    year = "2021",
    doi = "https://doi.org/10.1109/ICRA48506.2021.9561961",
    isbn = "978-1-7281-9077-8",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106546,
    title ="Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking",
    author = "Reher, Jenna and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2040-2047",
    month = "May",
    year = "2021",
    doi = "https://doi.org/10.1109/ICRA48506.2021.9560906",
    isbn = "978-1-7281-9077-8",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140928620",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/112514,
    title ="Model-Dependent Prosthesis Control with Interaction Force Estimation",
    author = "Gehlhar, Rachel and Ames, Aaron D.",
    
    
    
    pages = "3226-3232",
    month = "May",
    year = "2021",
    doi = "https://doi.org/10.1109/ICRA48506.2021.9561250",
    isbn = "978-1-7281-9077-8",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106554,
    title ="Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control",
    author = "Grandia, Ruben and Taylor, Andrew J. and Ames, Aaron D. and Hutter, Marco",
    journal = "arXiv",
    
    
    pages = "8352-8358",
    month = "May",
    year = "2021",
    doi = "https://doi.org/10.1109/ICRA48506.2021.9561510",
    isbn = "978-1-7281-9077-8",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/110498,
    title ="Online decentralized decision making with inequality constraints: An ADMM approach",
    author = "Chen, Yuxiao and Santillo, Mario and Jankovic, Mrdjan and Ames, Aaron D.",
    
    
    
    pages = "2075-2081",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210825-174614663",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/110420,
    title ="Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays",
    author = "Molnár, Tamás G. and Singletary, Andrew W. and Orosz, Gábor and Ames, Aaron D.",
    
    
    
    pages = "1052-1057",
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}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/112518,
    title ="Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots",
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    pages = "7073-7078",
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    year = "2021",
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}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104066,
    title ="Characterizing Safety: Minimal Control Barrier Functions from Scalar Comparison Systems",
    author = "Konda, Rohit and Ames, Aaron D. and Coogan, Samuel",
    journal = "IEEE Control Systems Letters",
    volume = "5",
    number = "2",
    pages = "523-528",
    month = "April",
    year = "2021",
    doi = "https://doi.org/10.1109/lcsys.2020.3003887",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200625-151814838",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/108777,
    title ="Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion",
    author = "Ma, Wen-Loong and Csomay-Shanklin, Noel and Kolathaya, Shishir and Hamed, Kaveh Akbari and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
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    pages = "3761-3768",
    month = "April",
    year = "2021",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210421-085752484",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/108200,
    title ="SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program",
    author = "Xiong, Xiaobin and Ames, Aaron",
    journal = "IEEE Robotics and Automation Letters",
    volume = "6",
    number = "2",
    pages = "2122-2129",
    month = "April",
    year = "2021",
    doi = "https://doi.org/10.1109/LRA.2021.3061385",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210225-132704894",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104065,
    title ="Separable Control Lyapunov Functions with Application to Prostheses",
    author = "Gehlhar, Rachel and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "5",
    number = "2",
    pages = "559-564",
    month = "April",
    year = "2021",
    doi = "https://doi.org/10.1109/lcsys.2020.3004181",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200625-151814604",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104252,
    title ="Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts",
    author = "Chen, Yuxiao and Anderson, James and Kalsi, Karan and Ames, Aaron D. and Low, Steven H.",
    journal = "IEEE Transactions on Control of Network Systems",
    volume = "8",
    number = "1",
    pages = "487-499",
    month = "March",
    year = "2021",
    doi = "https://doi.org/10.1109/TCNS.2020.3029183",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200707-113800670",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/108310,
    title ="Learning Controller Gains on Bipedal Walking Robots via User Preferences",
    author = "Csomay-Shanklin, Noel and Tucker, Maegan and Dai, Min and Reher, Jenna and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "February",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210304-095906281",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/108278,
    title ="ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions",
    author = "Thananjeyan, Brijen and Balakrishna, Ashwin and Rosolia, Ugo and Gonzalez, Joseph E. and Ames, Aaron and Goldberg, Ken",
    
    
    number = "17",
    pages = "1-17",
    month = "February",
    year = "2021",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210302-153300449",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93181,
    title ="Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments",
    author = "Azimi, Vahid and Shu, Tony and Zhao, Huihua and Gehlhar, Rachel and Simon, Dan and Ames, Aaron D.",
    journal = "IEEE Transactions on Systems, Man, and Cybernetics: Systems",
    volume = "51",
    number = "2",
    pages = "1174-1191",
    month = "February",
    year = "2021",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190222-102105621",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/108199,
    title ="3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization",
    author = "Xiong, Xiaobin and Ames, Aaron",
    journal = "arXiv",
    
    
    
    month = "January",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210225-132701566",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/103867,
    title ="Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach",
    author = "Chen, Yuxiao and Singletary, Andrew and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
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    month = "January",
    year = "2021",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200612-105359901",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/108198,
    title ="Unified Multi-Rate Control: from Low Level Actuation to High Level Planning",
    author = "Rosolia, Ugo and Singletary, Andrew and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "December",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210225-132658094",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/103485,
    title ="Barrier Functions for Multiagent-POMDPs with DTL Specifications",
    author = "Ahmadi, Mohamadreza and Singletary, Andrew and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "1380-1385",
    month = "December",
    year = "2020",
    doi = "https://doi.org/10.1109/CDC42340.2020.9304266",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200527-080649931",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104246,
    title ="Control Barrier Functions for Sampled-Data Systems with Input Delays",
    author = "Singletary, Andrew and Chen, Yuxiao and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "804-809",
    month = "December",
    year = "2020",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200707-105249603",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/103490,
    title ="Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions",
    author = "Akella, Prithvi and Ahmadi, Mohamadreza and Murray, Richard M. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "790-795",
    month = "December",
    year = "2020",
    doi = "https://doi.org/10.1109/CDC42340.2020.9303776",
    isbn = "9781728174471",
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}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/103484,
    title ="Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties",
    author = "Cheng, Richard and Khojasteh, Mohammad Javad and Ames, Aaron D. and Burdick, Joel W.",
    journal = "arXiv",
    
    
    pages = "777-783",
    month = "December",
    year = "2020",
    doi = "https://doi.org/10.1109/CDC42340.2020.9304395",
    isbn = "978-1-7281-7447-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200527-075148688",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107612,
    title ="Lidar-based exploration and discretization for mobile robot planning",
    author = "Chen, Yuxiao and Singletary, Andrew and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "November",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210120-165238517",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107616,
    title ="Reactive motion planning with probabilistic safety guarantees",
    author = "Chen, Yuxiao and Rosolia, Ugo and Fan, Chuchu and Ames, Aaron D. and Murray, Richard",
    journal = "arXiv",
    
    
    
    month = "November",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210120-165252232",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99586,
    title ="Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking",
    author = "Akbari Hamed, Kaveh and Ames, Aaron D.",
    journal = "IEEE Transactions on Control Systems Technology",
    volume = "28",
    number = "6",
    pages = "2689-2696",
    month = "November",
    year = "2020",
    doi = "https://doi.org/10.1109/tcst.2019.2947874",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191031-124926682",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106552,
    title ="Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions",
    author = "Dean, Sarah and Taylor, Andrew J. and Cosner, Ryan K. and Recht, Benjamin and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "October",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140938872",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106548,
    title ="Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance",
    author = "Singletary, Andrew and Klingebiel, Karl and Bourne, Joseph and Browning, Andrew and Tokumaru, Phil and Ames, Aaron",
    journal = "arXiv",
    
    
    
    month = "October",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140932047",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106566,
    title ="Dynamic Walking: Toward Agile and Efficient Bipedal Robots",
    author = "Reher, Jenna and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "October",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-155514089",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104225,
    title ="Safety-Critical Control of Active Interventions for COVID-19 Mitigation",
    author = "Ames, Aaron D. and Molnár, Tamás G. and Singletary, Andrew W. and Orosz, Gábor",
    journal = "IEEE Access",
    volume = "8",
    
    pages = "188454-188474",
    month = "October",
    year = "2020",
    doi = "https://doi.org/10.1109/ACCESS.2020.3029558",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200706-130358309",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/103491,
    title ="Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses",
    author = "Gehlhar, Rachel and Chen, Yuxiao and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "4126-4133",
    month = "October",
    year = "2020",
    doi = "https://doi.org/10.1109/IROS45743.2020.9341388",
    isbn = "978-1-7281-6212-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200527-124525913",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/103527,
    title ="Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach",
    author = "Ibuki, Tatsuya and Wilson, Sean and Ames, Aaron D. and Egerstedt, Magnus",
    journal = "IEEE Control Systems Letters",
    volume = "4",
    number = "4",
    pages = "976-981",
    month = "October",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200528-143228870",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104787,
    title ="Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping",
    author = "Xiong, Xiaobin and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "5",
    number = "4",
    pages = "6286-6293",
    month = "October",
    year = "2020",
    doi = "https://doi.org/10.1109/lra.2020.3013924",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200806-153948039",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100588,
    title ="Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion",
    author = "Suh, H. J. Terry and Xiong, Xiaobin and Singletary, Andrew and Ames, Aaron D. and Burdick, Joel W.",
    journal = "arXiv",
    
    
    pages = "7027-7033",
    month = "October",
    year = "2020",
    doi = "https://doi.org/10.1109/IROS45743.2020.9340761",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200109-095513041",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/103476,
    title ="Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits",
    author = "Tucker, Maegan and Cheng, Myra and Novoseller, Ellen and Cheng, Richard and Yue, Yisong and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "3423-3430",
    month = "October",
    year = "2020",
    doi = "https://doi.org/10.1109/IROS45743.2020.9341416",
    isbn = "978-1-7281-6212-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200526-152132290",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/108061,
    title ="Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots",
    author = "Ma, Wen-Loong and Csomay-Shanklin, Noel and Ames, Aaron D.",
    
    
    
    pages = "4006-4011",
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    isbn = "9781728162126",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106568,
    title ="Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control",
    author = "Xiong, Xiaobin and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "3510-3517",
    month = "October",
    year = "2020",
    doi = "https://doi.org/10.1109/IROS45743.2020.9341467",
    isbn = "978-1-7281-6212-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-155520989",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106544,
    title ="Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization",
    author = "Akella, Prithvi and Rosolia, Ugo and Singletary, Andrew and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140925178",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/105555,
    title ="A Scalable Safety Critical Control Framework for Nonlinear Systems",
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    pages = "187249-187275",
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    year = "2020",
    doi = "https://doi.org/10.1109/access.2020.3025248",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200925-104734853",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99873,
    title ="From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation",
    author = "Ma, Wen-Loong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "4491-4497",
    month = "August",
    year = "2020",
    doi = "https://doi.org/10.1109/ICRA40945.2020.9196841",
    isbn = "978-1-7281-7395-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191115-153429777",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100586,
    title ="Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity",
    author = "Ambrose, Eric and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2457-2463",
    month = "August",
    year = "2020",
    doi = "https://doi.org/10.1109/ICRA40945.2020.9197070",
    isbn = "978-1-7281-7395-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200109-094355426",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/105533,
    title ="Passive Dynamic Balancing and Walking in Actuated Environments",
    author = "Reher, Jenna and Csomay-Shanklin, Noel and Christensen, David L. and Bristow, Bobby and Ames, Aaron D. and Smoot, Lanny",
    
    
    
    pages = "9775-9781",
    month = "August",
    year = "2020",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200924-160023015",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100589,
    title ="Preference-Based Learning for Exoskeleton Gait Optimization",
    author = "Tucker, Maegan and Novoseller, Ellen and Kann, Claudia and Sui, Yanan and Yue, Yisong and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2351-2357",
    month = "August",
    year = "2020",
    doi = "https://doi.org/10.1109/ICRA40945.2020.9196661",
    isbn = "978-1-7281-7395-5",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/103493,
    title ="Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator",
    author = "Gao, Chang and Gehlhar, Rachel and Ames, Aaron D. and Liu, Shih-Chii and Delbrück, Tobi",
    journal = "arXiv",
    
    
    pages = "5460-5466",
    month = "August",
    year = "2020",
    doi = "https://doi.org/10.1109/icra40945.2020.9196984",
    isbn = "9781728173955",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/105510,
    title ="Safety-Critical Rapid Aerial Exploration of Unknown Environments",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104667,
    title ="Adaptive Safety with Control Barrier Functions",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100585,
    title ="An Inverse Dynamics Approach to Control Lyapunov Functions",
    author = "Reher, Jenna and Kann, Claudia and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2444-2451",
    month = "July",
    year = "2020",
    doi = "https://doi.org/10.23919/ACC45564.2020.9147342",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104664,
    title ="Density Functions for Guaranteed Safety on Robotic Systems",
    author = "Chen, Yuxiao and Singletary, Andrew W. and Ames, Aaron D.",
    
    
    
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    month = "July",
    year = "2020",
    doi = "https://doi.org/10.23919/acc45564.2020.9147265",
    isbn = "9781538682661",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200730-143942988",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/96716,
    title ="Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach",
    author = "Akbari Hamed, Kaveh and Kamidi, Vinay R. and Pandala, Abhishek and Ma, Wen-Loong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "5314-5321",
    month = "July",
    year = "2020",
    doi = "https://doi.org/10.23919/ACC45564.2020.9147673",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190626-092917746",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104674,
    title ="Invariant Sets for Integrators and Quadrotor Obstacle Avoidance",
    author = "Doeser, Ludvig and Nilsson, Petter and Ames, Aaron D. and Murray, Richard M.",
    
    
    
    pages = "3814-3821",
    month = "July",
    year = "2020",
    doi = "https://doi.org/10.23919/acc45564.2020.9147872",
    isbn = "9781538682661",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200730-143943975",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104671,
    title ="Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs",
    author = "Nilsson, Petter and Ames, Aaron D.",
    
    
    
    pages = "5175-5181",
    month = "July",
    year = "2020",
    doi = "https://doi.org/10.23919/acc45564.2020.9147414",
    isbn = "9781538682661",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200730-143943668",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104245,
    title ="Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions",
    author = "Grandia, Ruben and Taylor, Andrew J. and Singletary, Andrew and Hutter, Marco and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "Art. No. 098",
    month = "July",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200707-104619738",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104668,
    title ="On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction",
    author = "Pandey, Ayush and Ames, Aaron D.",
    
    
    
    pages = "3763-3769",
    month = "July",
    year = "2020",
    doi = "https://doi.org/10.23919/acc45564.2020.9147709",
    isbn = "9781538682661",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200730-143943387",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104663,
    title ="Optimal Safe Controller Synthesis: A Density Function Approach",
    author = "Chen, Yuxiao and Ahmadi, Mohamadreza and Ames, Aaron D.",
    
    
    
    pages = "5407-5412",
    month = "July",
    year = "2020",
    doi = "https://doi.org/10.23919/acc45564.2020.9147721",
    isbn = "9781538682661",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200730-143942888",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100583,
    title ="Risk-Averse Planning Under Uncertainty",
    author = "Ahmadi, Mohamadreza and Ono, Masahiro and Ingham, Michel D. and Murray, Richard M. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "3305-3312",
    month = "July",
    year = "2020",
    doi = "https://doi.org/10.23919/ACC45564.2020.9147792",
    isbn = "9781538682661",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200109-092433424",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/101301,
    title ="Learning for Safety-Critical Control with Control Barrier Functions",
    author = "Taylor, Andrew J. and Singletary, Andrew and Yue, Yisong and Ames, Aaron D.",
    journal = "Proceedings of Machine Learning Research",
    volume = "120",
    
    pages = "708-717",
    month = "June",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200214-105558873",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107466,
    title ="Partially Observable Games for Secure Autonomy",
    author = "Ahmadi, Mohamadreza and Viswanathan, Arun A. and Ingham, Michel D. and Tan, Kymie and Ames, Aaron D.",
    
    
    
    pages = "185-188",
    month = "May",
    year = "2020",
    doi = "https://doi.org/10.1109/spw50608.2020.00046",
    isbn = "9781728193465",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210113-163505274",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109984,
    title ="Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS",
    author = "Reher, Jacob P. and Hereid, Ayonga and Kolathaya, Shishir and Hubicki, Christian M. and Ames, Aaron D.",
    
    
    number = "13",
    pages = "400-415",
    month = "May",
    year = "2020",
    doi = "https://doi.org/10.1007/978-3-030-43089-4_26",
    isbn = "978-3-030-43088-7",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210722-215115948",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/102720,
    title ="Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces",
    author = "Yu, You and Nassar, Joanna and Xu, Changhao and Min, Jihong and Yang, Yiran and Dai, Adam and Doshi, Rohan and Huang, Adrian and Song, Yu and Gehlhar, Rachel and Ames, Aaron D. and Gao, Wei",
    journal = "Science Robotics",
    volume = "5",
    number = "41",
    pages = "Art. No. eaaz7946",
    month = "April",
    year = "2020",
    doi = "https://doi.org/10.1126/scirobotics.aaz7946",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200422-130006132",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100582,
    title ="Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems",
    author = "Klaesson, Filip and Nilsson, Petter and Ames, Aaron D. and Murray, Richard M.",
    journal = "arXiv",
    
    
    pages = "196-205",
    month = "April",
    year = "2020",
    doi = "https://doi.org/10.1109/ICCPS48487.2020.00031",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200109-092058249",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/96743,
    title ="Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach",
    author = "Akbari Hamed, Kaveh and Kamidi, Vinay R. and Ma, Wen-Loong and Leonessa, Alexander and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "5",
    number = "1",
    pages = "56-63",
    month = "January",
    year = "2020",
    doi = "https://doi.org/10.1109/LRA.2019.2939719",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190626-133626148",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100184,
    title ="Towards Variable Assistance for Lower Body Exoskeletons",
    author = "Gurriet, Thomas and Tucker, Maegan and Duburcq, Alexis and Boeris, Guilhem and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "5",
    number = "1",
    pages = "266-273",
    month = "January",
    year = "2020",
    doi = "https://doi.org/10.1109/lra.2019.2955946",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191204-133217340",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/94190,
    title ="A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability",
    author = "Taylor, Andrew J. and Dorobantu, Victor D. and Krishnamoorthy, Meera and Le, Hoang M. and Yue, Yisong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "1448-1455",
    month = "December",
    year = "2019",
    doi = "https://doi.org/10.1109/CDC40024.2019.9029226",
    isbn = "978-1-7281-1398-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190327-085842025",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/105440,
    title ="A Scalable Controlled Set Invariance Framework with Practical Safety Guarantees",
    author = "Gurriet, Thomas and Mote, Mark and Singletary, Andrew and Feron, Eric and Ames, Aaron D.",
    
    
    
    pages = "2046-2053",
    month = "December",
    year = "2019",
    doi = "https://doi.org/10.1109/cdc40024.2019.9030159",
    isbn = "9781728113982",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200917-151033700",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/96750,
    title ="Optimal Control of Piecwise-smooth Control Systems via Singular Perturbations",
    author = "Westenbroek, Tyler and Xiong, Xiaobin and Ames, Aaron D. and Sastry, S. Shankar",
    journal = "arXiv",
    
    
    pages = "3046-3053",
    month = "December",
    year = "2019",
    doi = "https://doi.org/10.1109/CDC40024.2019.9029232",
    isbn = "978-1-7281-1398-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190626-144846996",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/105355,
    title ="Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots",
    author = "Murali, Vishal and Ames, Aaron D. and Verriest, Erik I.",
    
    
    
    pages = "6295-6300",
    month = "December",
    year = "2019",
    doi = "https://doi.org/10.1109/cdc40024.2019.9029348",
    isbn = "9781728113982",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200911-133138878",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/94638,
    title ="Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions",
    author = "Ahmadi, Mohamadreza and Singletary, Andrew and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "4797-4803",
    month = "December",
    year = "2019",
    doi = "https://doi.org/10.1109/CDC40024.2019.9030241",
    isbn = "978-1-7281-1398-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190410-120651366",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/101027,
    title ="Design and Comparative Analysis of 1D Hopping Robots",
    author = "Ambrose, Eric and Csomay-Shanklin, Noel and Or, Yizhar and Ames, Aaron",
    
    
    
    pages = "5717-5724",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/IROS40897.2019.8967692",
    isbn = "978-1-7281-4004-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200131-082906308",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/94189,
    title ="Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems",
    author = "Taylor, Andrew J. and Dorobantu, Victor D. and Le, Hoang M. and Yue, Yisong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "6878-6884",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/IROS40897.2019.8967820",
    isbn = "978-1-7281-4004-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190327-085838590",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99874,
    title ="First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach",
    author = "Ma, Wen-Loong and Akbari Hamed, Kaveh and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "5498-5503",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/IROS40897.2019.8968189",
    isbn = "978-1-7281-4004-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191115-153946816",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/101023,
    title ="Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control",
    author = "Xiong, Xiaobin and Ames, Aaron D.",
    
    
    
    pages = "1018-1024",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/iros40897.2019.8968215",
    isbn = "978-1-7281-4004-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200131-080909173",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/101028,
    title ="Online Active Safety for Robotic Manipulators",
    author = "Singletary, Andrew and Nilsson, Petter and Gurriet, Thomas and Ames, Aaron D.",
    
    
    
    pages = "173-178",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/IROS40897.2019.8968231",
    isbn = "978-1-7281-4004-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200131-083400032",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/101024,
    title ="Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model",
    author = "Xiong, Xiaobin and Ames, Aaron D.",
    
    
    
    pages = "4644-4651",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/IROS40897.2019.8968162",
    isbn = "978-1-7281-4004-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200131-081422971",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100587,
    title ="Stabilization of Exoskeletons through Active Ankle Compensation",
    author = "Gurriet, Thomas and Tucker, Maegan and Kann, Claudia and Boeris, Guilhem and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2019",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200109-094832526",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100593,
    title ="Control of Separable Subsystems with Application to Prostheses",
    author = "Gehlhar, Rachel and Reher, Jenna and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2019",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200109-104408294",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92573,
    title ="Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts",
    author = "Chen, Yuxiao and Anderson, James and Kalsi, Karan and Low, Steven H. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "1027-1034",
    month = "July",
    year = "2019",
    doi = "https://doi.org/10.23919/ACC.2019.8814437",
    isbn = "978-1-5386-7926-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-135605069",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92572,
    title ="Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers",
    author = "Akbari Hamed, Kaveh and Ma, Wen-Loong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "4588-4595",
    month = "July",
    year = "2019",
    
    isbn = "978-1-5386-7926-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-135601629",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/98439,
    title ="Realizable Set Invariance Conditions for Cyber-Physical Systems",
    author = "Gurriet, Thomas and Nilsson, Petter and Singletary, Andrew and Ames, Aaron D.",
    
    
    
    pages = "3642-3649",
    month = "July",
    year = "2019",
    doi = "https://doi.org/10.23919/ACC.2019.8815332",
    isbn = "978-1-5386-7926-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190905-142648478",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/98442,
    title ="Safety Functionals for Time Delay Systems",
    author = "Orosz, Gábor and Ames, Aaron D.",
    
    
    
    pages = "4374-4379",
    month = "July",
    year = "2019",
    
    isbn = "978-1-5386-7926-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190905-145103093",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/94624,
    title ="Control Barrier Functions: Theory and Applications",
    author = "Ames, Aaron D. and Coogan, Samuel and Egerstedt, Magnus and Notomista, Gennaro and Sreenath, Koushil and Tabuada, Paulo",
    journal = "arXiv",
    
    
    pages = "3420-3431",
    month = "June",
    year = "2019",
    doi = "https://doi.org/10.23919/ECC.2019.8796030",
    isbn = "978-3-907144-00-8",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190410-120602158",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/96718,
    title ="Dynamic Walking with Compliance on a Cassie Bipedal Robot",
    author = "Reher, Jacob and Ma, Wen-Loong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2589-2595",
    month = "June",
    year = "2019",
    doi = "https://doi.org/10.23919/ECC.2019.8796090",
    isbn = "978-3-907144-00-8",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190626-095437419",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92574,
    title ="Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage",
    author = "Ma, Wen-Loong and Or, Yizhar and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "3705-3711",
    month = "May",
    year = "2019",
    doi = "https://doi.org/10.1109/ICRA.2019.8793761",
    isbn = "978-1-5386-6027-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-135608505",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/97925,
    title ="Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping",
    author = "Chang, Alexander H. and Hubicki, Christian and Ames, Aaron and Vela, Patricio A.",
    
    
    
    pages = "3188-3194",
    month = "May",
    year = "2019",
    doi = "https://doi.org/10.1109/ICRA.2019.8793757",
    isbn = "978-1-5386-6027-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190815-131048956",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/94623,
    title ="Duality between density function and value function with applications in constrained optimal control and Markov Decision Process",
    author = "Chen, Yuxiao and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "February",
    year = "2019",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190410-120558713",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/87777,
    title ="Input-to-State Safety with Control Barrier Functions",
    author = "Kolathaya, Shishir and Ames, Aaron D.",
    journal = "IEEE Control Systems Letters",
    volume = "3",
    number = "1",
    pages = "108-113",
    month = "January",
    year = "2019",
    doi = "https://doi.org/10.1109/LCSYS.2018.2853698",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180711-153433279",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92579,
    title ="An Online Approach to Active Set Invariance",
    author = "Gurriet, Thomas and Mote, Mark and Ames, Aaron D. and Feron, Eric",
    
    
    
    pages = "3592-3599",
    month = "December",
    year = "2018",
    doi = "https://doi.org/10.1109/cdc.2018.8619139",
    isbn = "9781538613955",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-135634887",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92631,
    title ="Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control",
    author = "Nilsson, Petter and Ames, Aaron D.",
    
    
    
    pages = "765-772",
    month = "December",
    year = "2018",
    doi = "https://doi.org/10.1109/CDC.2018.8619142",
    isbn = "978-1-5386-1395-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190204-130250075",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/91206,
    title ="Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable, Hands-Free Dynamic Walking",
    author = "Harib, Omar and Hereid, Ayonga and Agrawal, Ayush and Gurriet, Thomas and Finet, Sylvain and Boeris, Guilhem and Duburcq, Alexis and Mungai, M. Eva and Masselin, Mattieu and Ames, Aaron D. and Sreenath, Koushil and Grizzle, Jessy W.",
    journal = "IEEE Control Systems Magazine",
    volume = "38",
    number = "6",
    pages = "61-87",
    month = "December",
    year = "2018",
    doi = "https://doi.org/10.1109/mcs.2018.2866604",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20181127-081153712",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92546,
    title ="Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods",
    author = "Gosyne, Jonathan R. and Hubicki, Christian M. and Xiong, Xiaobin and Ames, Aaron D. and Goldman, Daniel I.",
    
    
    
    pages = "994-1001",
    month = "November",
    year = "2018",
    
    isbn = "9781538672839",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190131-131445073",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92547,
    title ="Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking",
    author = "Xiong, Xiaobin and Ames, Aaron D.",
    
    
    
    pages = "67-74",
    month = "November",
    year = "2018",
    doi = "https://doi.org/10.1109/humanoids.2018.8625066",
    isbn = "9781538672839",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190131-131445184",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92571,
    title ="Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control",
    author = "Xiong, Xiaobin and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "3821-3828",
    month = "October",
    year = "2018",
    doi = "https://doi.org/10.1109/IROS.2018.8593547",
    isbn = "978-1-5386-8094-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-135558000",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/87774,
    title ="Direct Collocation for Dynamic Behaviors with Nonprehensile Contacts: Application to Flipping Burgers",
    author = "Kolathaya, Shishir and Guffey, William and Sinnet, Ryan W. and Ames, Aaron D.",
    journal = "IEEE Robotics and Automation Letters",
    volume = "3",
    number = "4",
    pages = "3677-3684",
    month = "October",
    year = "2018",
    doi = "https://doi.org/10.1109/LRA.2018.2854910",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180711-152627687",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/89577,
    title ="Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations",
    author = "Haesaert, S. and Nilsson, P. and Vasile, C. I. and Thakker, R. and Agha-Mohammadi, A. and Ames, A. D. and Murray, R. M.",
    journal = "IFAC-PapersOnLine",
    volume = "51",
    number = "16",
    pages = "271-276",
    month = "August",
    year = "2018",
    doi = "https://doi.org/10.1016/j.ifacol.2018.08.046",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180912-130453647",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/84126,
    title ="Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control",
    author = "Xu, Xiangru and Grizzle, Jessy W. and Tabuada, Paulo and Ames, Aaron D.",
    journal = "IEEE Transactions on Automation Science and Engineering",
    volume = "15",
    number = "3",
    pages = "1216-1229",
    month = "July",
    year = "2018",
    doi = "https://doi.org/10.1109/TASE.2017.2760863",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180105-103754631",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92649,
    title ="Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion",
    author = "Akbari Hamed, Kaveh and Gregg, Robert D. and Ames, Aaron D.",
    
    
    
    pages = "2210-2217",
    month = "June",
    year = "2018",
    doi = "https://doi.org/10.23919/ACC.2018.8431799",
    isbn = "978-1-5386-5428-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-075309563",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92651,
    title ="Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion",
    author = "Kolathaya, Shishir and Reher, Jacob and Hereid, Ayonga and Ames, Aaron D.",
    
    
    
    pages = "2224-2230",
    month = "June",
    year = "2018",
    doi = "https://doi.org/10.23919/ACC.2018.8430946",
    isbn = "978-1-5386-5428-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-081346790",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92650,
    title ="Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking",
    author = "Akbari Hamed, Kaveh and Ames, Aaron D. and Gregg, Robert D.",
    
    
    
    pages = "1438-1445",
    month = "June",
    year = "2018",
    doi = "https://doi.org/10.23919/ACC.2018.8431607",
    isbn = "978-1-5386-5428-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-081031030",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/101031,
    title ="Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams",
    author = "Nilsson, Petter and Haesaert, Sofie and Thakker, Rohan and Otsu, Kyohei and Vasile, Cristian-Ioan and Agha-Mohammadi, Ali-Akbar and Murray, Richard M. and Ames, Aaron D.",
    
    
    
    pages = "1-9",
    month = "June",
    year = "2018",
    doi = "https://doi.org/10.15607/rss.2018.xiv.047",
    isbn = "978-0-9923747-4-7",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200131-093149145",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/89820,
    title ="Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons",
    author = "Gurriet, Thomas and Finet, Sylvain and Boeris, Guilhem and Duburcq, Alexis and Hereid, Ayonga and Harib, Omar and Masselin, Matthieu and Grizzle, Jessy and Ames, Aaron D.",
    
    
    
    pages = "2804-2811",
    month = "May",
    year = "2018",
    doi = "https://doi.org/10.1109/ICRA.2018.8460647",
    isbn = "978-1-5386-3081-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180921-090557817",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/84393,
    title ="Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization",
    author = "Hereid, Ayonga and Hubicki, Christian M. and Cousineau, Eric A. and Ames, Aaron D.",
    journal = "IEEE Transactions on Robotics",
    volume = "34",
    number = "2",
    pages = "370-387",
    month = "April",
    year = "2018",
    doi = "https://doi.org/10.1109/TRO.2017.2783371",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180118-141115865",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/86012,
    title ="Towards a Framework for Realizable Safety Critical Control through Active Set Invariance",
    author = "Gurriet, Thomas and Singletary, Andrew and Reher, Jacob and Ciarletta, Laurent and Feron, Eric and Ames, Aaron",
    
    
    
    pages = "98-106",
    month = "April",
    year = "2018",
    doi = "https://doi.org/10.1109/ICCPS.2018.00018",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180423-111212976",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92570,
    title ="Input to State Stability of Bipedal Walking Robots: Application to DURUS",
    author = "Kolathaya, Shishir and Reher, Jacob and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "January",
    year = "2018",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-135554491",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/84536,
    title ="Data-driven control for feedback linearizable single-input systems",
    author = "Tabuada, Paulo and Ma, Wen-Loong and Grizzle, Jessy and Ames, Aaron D.",
    
    
    
    pages = "6265-6270",
    month = "December",
    year = "2017",
    doi = "https://doi.org/10.1109/CDC.2017.8264603",
    isbn = "978-1-5090-2874-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180126-083355117",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/78439,
    title ="Abstracting Partially Feedback Linearizable Systems Compositionally",
    author = "Hussien, Omar and Ames, Aaron and Tabuada, Paulo",
    journal = "IEEE Control Systems Letters",
    volume = "1",
    number = "2",
    pages = "227-232",
    month = "October",
    year = "2017",
    doi = "https://doi.org/10.1109/LCSYS.2017.2713461",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170621-160327032",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/85662,
    title ="A stability region criterion for flat-footed bipedal walking on deformable granular terrain",
    author = "Xiong, Xiaobin and Ames, Aaron D. and Goldman, Daniel I.",
    
    
    
    pages = "4552-4559",
    month = "September",
    year = "2017",
    doi = "https://doi.org/10.1109/IROS.2017.8206323",
    isbn = "978-1-5386-2682-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180405-153447941",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/84412,
    title ="FROST: Fast robot optimization and simulation toolkit",
    author = "Hereid, Ayonga and Ames, Aaron D.",
    
    
    
    pages = "719-726",
    month = "September",
    year = "2017",
    doi = "https://doi.org/10.1109/IROS.2017.8202230",
    isbn = "978-1-5386-2683-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180119-085007221",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/79450,
    title ="Control Barrier Function Based Quadratic Programs for Safety Critical Systems",
    author = "Ames, Aaron D. and Xu, Xiangru and Grizzle, Jessy W. and Tabuada, Paulo",
    journal = "IEEE Transactions on Automatic Control",
    volume = "62",
    number = "8",
    pages = "3861-3876",
    month = "August",
    year = "2017",
    doi = "https://doi.org/10.1109/TAC.2016.2638961",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170726-152043029",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/78021,
    title ="First steps toward formal controller synthesis for bipedal robots with experimental implementation",
    author = "Ames, Aaron D. and Tabuada, Paulo and Jones, Austin and Ma, Wen-Loong and Rungger, Matthias and Schürmann, Bastian and Kolathaya, Shishir and Grizzle, Jessy W.",
    journal = "Nonlinear Analysis: Hybrid Systems",
    volume = "25",
    
    pages = "155-173",
    month = "August",
    year = "2017",
    doi = "https://doi.org/10.1016/j.nahs.2017.01.002",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170608-073936974",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/82338,
    title ="Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds",
    author = "Xu, Xiangru and Waters, Thomas and Pickem, Daniel and Glotfelter, Paul and Egerstedt, Magnus and Tabuada, Paulo and Grizzle, Jessy W. and Ames, Aaron D.",
    
    
    
    pages = "1769-1775",
    month = "August",
    year = "2017",
    doi = "https://doi.org/10.1109/CCTA.2017.8062713",
    isbn = "978-1-5090-2182-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20171013-090026063",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/82443,
    title ="Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M",
    author = "Ambrose, Eric and Ma, Wen-Loong and Hubicki, Christian and Ames, Aaron D.",
    
    
    
    pages = "1270-1276",
    month = "August",
    year = "2017",
    doi = "https://doi.org/10.1109/CCTA.2017.8062633",
    isbn = "978-1-5090-2182-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20171018-075303778",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92654,
    title ="Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression",
    author = "Chang, Alexander H. and Hubicki, Christian M. and Aguilar, Jeff J. and Goldman, Daniel I. and Ames, Aaron D. and Vela, Patricio A.",
    
    
    
    pages = "2154-2160",
    month = "June",
    year = "2017",
    doi = "https://doi.org/10.1109/icra.2017.7989248",
    isbn = "978-1-5090-4633-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-083656859",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/74353,
    title ="Safety Barrier Certificates for Collisions-Free Multirobot Systems",
    author = "Wang, Li and Ames, Aaron D. and Egerstedt, Magnus",
    journal = "IEEE Transactions on Robotics",
    volume = "33",
    number = "3",
    pages = "661-674",
    month = "June",
    year = "2017",
    doi = "https://doi.org/10.1109/TRO.2017.2659727",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170215-165434009",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92611,
    title ="The Robotarium: A remotely accessible swarm robotics research testbed",
    author = "Pickem, Daniel and Glotfelter, Paul and Wang, Li and Mote, Mark and Ames, Aaron and Feron, Eric and Egerstedt, Magnus",
    journal = "arXiv",
    
    
    pages = "1699-1706",
    month = "June",
    year = "2017",
    doi = "https://doi.org/10.1109/ICRA.2017.7989200",
    isbn = "978-1-5090-4633-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160906310",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/78781,
    title ="Closed-form controlled invariant sets for pedestrian avoidance",
    author = "Shoukry, Yasser and Tabuada, Paulo and Tsuei, Stephanie and Milam, Mark B. and Grizzle, Jessy W. and Ames, Aaron D.",
    
    
    
    pages = "1622-1628",
    month = "May",
    year = "2017",
    doi = "https://doi.org/10.23919/ACC.2017.7963185",
    isbn = "978-1-5090-5992-8",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170705-161535923",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/79320,
    title ="Footstep and motion planning in semi-unstructured environments using randomized possibility graphs",
    author = "Grey, Michael X. and Ames, Aaron D. and Liu, C. Karen",
    
    
    
    pages = "4747-4753",
    month = "May",
    year = "2017",
    doi = "https://doi.org/10.1109/ICRA.2017.7989551",
    isbn = "978-1-5090-4633-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170725-083100456",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99877,
    title ="Multi-contact bipedal robotic locomotion",
    author = "Zhao, Huihua and Hereid, Ayonga and Ma, Wen-loong and Ames, Aaron D.",
    journal = "Robotica",
    volume = "35",
    number = "5",
    pages = "1072-1106",
    month = "May",
    year = "2017",
    doi = "https://doi.org/10.1017/s0263574715000995",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191115-161042888",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/79467,
    title ="Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis",
    author = "Zhao, Huihua and Ambrose, Eric and Ames, Aaron D.",
    
    
    
    pages = "1140-1147",
    month = "May",
    year = "2017",
    doi = "https://doi.org/10.1109/ICRA.2017.7989136",
    isbn = "978-1-5090-4633-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170726-163635418",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/78784,
    title ="Robust control of a powered transfemoral prosthesis device with experimental verification",
    author = "Azimi, Vahid and Shu, Tony and Zhao, Huihua and Ambrose, Eric and Ames, Aaron D. and Simon, Dan",
    
    
    
    pages = "517-522",
    month = "May",
    year = "2017",
    doi = "https://doi.org/10.23919/ACC.2017.7963005",
    isbn = "978-1-5090-5992-8",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170705-165618986",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/79319,
    title ="Safe certificate-based maneuvers for teams of quadrotors using differential flatness",
    author = "Wang, Li and Ames, Aaron D. and Egerstedt, Magnus",
    
    
    
    pages = "3293-3298",
    month = "May",
    year = "2017",
    doi = "https://doi.org/10.1109/ICRA.2017.7989375",
    isbn = "978-1-5090-4633-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170725-082128250",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/78440,
    title ="First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons",
    author = "Agrawal, Ayush and Harib, Omar and Hereid, Ayonga and Finet, Sylvain and Masselin, Matthieu and Praly, Laurent and Ames, Aaron D. and Sreenath, Koushil and Grizzle, Jessy W.",
    journal = "IEEE Access",
    volume = "5",
    
    pages = "9919-9934",
    month = "April",
    year = "2017",
    doi = "https://doi.org/10.1109/ACCESS.2017.2690407",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170621-161046140",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/76617,
    title ="Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment",
    author = "Ma, Wen-Loong and Kolathaya, Shishir and Ambrose, Eric R. and Hubicki, Christian M. and Ames, Aaron D.",
    
    
    
    pages = "265-274",
    month = "April",
    year = "2017",
    doi = "https://doi.org/10.1145/3049797.3049823",
    isbn = "978-1-4503-4590-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170417-144013108",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/97330,
    title ="First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach",
    author = "Zhao, Huihua and Horn, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D.",
    journal = "Autonomous Robots",
    volume = "41",
    number = "3",
    pages = "725-742",
    month = "March",
    year = "2017",
    doi = "https://doi.org/10.1007/s10514-016-9565-1",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190722-151625943",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92613,
    title ="Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments",
    author = "Grey, Michael X. and Ames, Aaron D. and Liu, C. Karen",
    journal = "arXiv",
    
    
    
    month = "February",
    year = "2017",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160913893",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92695,
    title ="3D dynamic walking on stepping stones with control barrier functions",
    author = "Nguyen, Quang and Hereid, Ayonga and Grizzle, Jessy W. and Ames, Aaron D. and Sreenath, Koushil",
    
    
    
    pages = "827-834",
    month = "December",
    year = "2016",
    doi = "https://doi.org/10.1109/CDC.2016.7798370",
    isbn = "978-1-5090-1837-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-142557786",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92680,
    title ="3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation",
    author = "Zhao, Huihua and Hereid, Ayonga and Ambrose, Eric and Ames, Aaron D.",
    
    
    
    pages = "3668-3674",
    month = "December",
    year = "2016",
    doi = "https://doi.org/10.1109/CDC.2016.7798821",
    isbn = "978-1-5090-1837-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-140612490",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92609,
    title ="Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots",
    author = "Wang, Li and Ames, Aaron D. and Egerstedt, Magnus",
    journal = "arXiv",
    
    
    pages = "2659-2664",
    month = "December",
    year = "2016",
    doi = "https://doi.org/10.1109/CDC.2016.7798663",
    isbn = "978-1-5090-1837-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160902879",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92679,
    title ="Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization",
    author = "Hereid, Ayonga and Kolathaya, Shishir and Ames, Aaron D.",
    
    
    
    pages = "6173-6179",
    month = "December",
    year = "2016",
    doi = "https://doi.org/10.1109/CDC.2016.7799218",
    isbn = "978-1-5090-1837-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-135707405",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92656,
    title ="Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization",
    author = "Powell, Matthew J. and Ma, Wen-Loong and Ambrose, Eric R. and Ames, Aaron D.",
    
    
    
    pages = "981-986",
    month = "November",
    year = "2016",
    doi = "https://doi.org/10.1109/humanoids.2016.7803391",
    isbn = "978-1-5090-4718-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-095936067",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92612,
    title ="Traversing Environments Using Possibility Graphs with Multiple Action Types",
    author = "Grey, Michael X. and Liu, C. Karen and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "October",
    year = "2016",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160909756",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92696,
    title ="Efficient HZD gait generation for three-dimensional underactuated humanoid running",
    author = "Ma, Wen-Loong and Hereid, Ayonga and Hubicki, Christian M. and Ames, Aaron D.",
    
    
    
    pages = "5819-5825",
    month = "October",
    year = "2016",
    doi = "https://doi.org/10.1109/IROS.2016.7759856",
    isbn = "978-1-5090-3762-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-143905644",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92698,
    title ="Humanoid manipulation planning using backward-forward search",
    author = "Grey, Michael X. and Garrett, Caelan R. and Liu, C. Karen and Ames, Aaron D. and Thomaz, Andrea L.",
    
    
    
    pages = "5467-5473",
    month = "October",
    year = "2016",
    doi = "https://doi.org/10.1109/IROS.2016.7759804",
    isbn = "978-1-5090-3762-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-155646129",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92705,
    title ="Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints",
    author = "Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "555-560",
    month = "October",
    year = "2016",
    doi = "https://doi.org/10.1109/IROS.2016.7759108",
    isbn = "978-1-5090-3762-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190206-074211119",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92701,
    title ="Tractable terrain-aware motion planning on granular media: An impulsive jumping study",
    author = "Hubicki, Christian M. and Aguilar, Jeff J. and Goldman, Daniel I. and Ames, Aaron D.",
    
    
    
    pages = "3887-3892",
    month = "October",
    year = "2016",
    doi = "https://doi.org/10.1109/IROS.2016.7759572",
    isbn = "978-1-5090-3762-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-161256395",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92608,
    title ="Traversing Environments Using Possibility Graphs for Humanoid Robots",
    author = "Grey, Michael X. and Ames, Aaron D. and Liu, C. Karen",
    journal = "arXiv",
    
    
    
    month = "August",
    year = "2016",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160859446",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92607,
    title ="System Identification and Control of Valkyrie through SVA--Based Regressor Computation",
    author = "Kolathaya, Shishir and Morris, Benjamin J. and Sinnet, Ryan W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "August",
    year = "2016",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160856010",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92790,
    title ="Correct-by-Construction Adaptive Cruise Control: Two Approaches",
    author = "Nilsson, Petter and Hussien, Omar and Balkan, Ayca and Chen, Yuxiao and Ames, Aaron D. and Grizzle, Jessy W. and Ozay, Necmiye and Peng, Huei and Tabuada, Paulo",
    journal = "IEEE Transactions on Control Systems Technology",
    volume = "24",
    number = "4",
    pages = "1294-1307",
    month = "July",
    year = "2016",
    doi = "https://doi.org/10.1109/tcst.2015.2501351",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-100755503",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92511,
    title ="Safety barrier certificates for heterogeneous multi-robot systems",
    author = "Wang, Li and Ames, Aaron and Egerstedt, Magnus",
    
    
    
    pages = "5213-5218",
    month = "July",
    year = "2016",
    doi = "https://doi.org/10.1109/ACC.2016.7526486",
    isbn = "978-1-4673-8682-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190129-150935683",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92780,
    title ="Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion",
    author = "Kolathaya, Shishir and Hereid, Ayonga and Ames, Aaron D.",
    
    
    
    pages = "3916-3921",
    month = "July",
    year = "2016",
    doi = "https://doi.org/10.1109/ACC.2016.7525524",
    isbn = "978-1-4673-8682-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-084733458",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92779,
    title ="Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion",
    author = "Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "3922-3927",
    month = "July",
    year = "2016",
    doi = "https://doi.org/10.1109/ACC.2016.7525525",
    isbn = "978-1-4673-8682-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-084137891",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92781,
    title ="Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs",
    author = "Chao, Kenneth Y. and Powell, Matthew J. and Ames, Aaron D. and Hur, Pilwon",
    
    
    
    pages = "3910-3915",
    month = "July",
    year = "2016",
    doi = "https://doi.org/10.1109/ACC.2016.7525523",
    isbn = "978-1-4673-8682-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-085222751",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92784,
    title ="3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics",
    author = "Hereid, Ayonga and Cousineau, Eric A. and Hubicki, Christian M. and Ames, Aaron D.",
    
    
    
    pages = "1447-1454",
    month = "May",
    year = "2016",
    doi = "https://doi.org/10.1109/ICRA.2016.7487279",
    isbn = "978-1-4673-8026-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-091046999",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92782,
    title ="Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS",
    author = "Reher, Jacob and Cousineau, Eric A. and Hereid, Ayonga and Hubicki, Christian M. and Ames, Aaron D.",
    
    
    
    pages = "1794-1801",
    month = "May",
    year = "2016",
    doi = "https://doi.org/10.1109/ICRA.2016.7487325",
    isbn = "978-1-4673-8026-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-085615775",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92783,
    title ="Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion",
    author = "Hubicki, Christian M. and Hereid, Ayonga and Grey, Michael X. and Thomaz, Andrea L. and Ames, Aaron D.",
    
    
    
    pages = "1552-1559",
    month = "May",
    year = "2016",
    doi = "https://doi.org/10.1109/ICRA.2016.7487293",
    isbn = "978-1-4673-8026-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-090232649",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92606,
    title ="Safe, Remote-Access Swarm Robotics Research on the Robotarium",
    author = "Pickem, Daniel and Wang, Li and Glotfelter, Paul and Diaz-Mercado, Yancy and Mote, Mark and Ames, Aaron and Feron, Eric and Egerstedt, Magnus",
    journal = "arXiv",
    
    
    
    month = "April",
    year = "2016",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160852451",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92785,
    title ="Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control",
    author = "Zhao, Huihua and Horner, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D.",
    journal = "IEEE Transactions on Automation Science and Engineering",
    volume = "13",
    number = "2",
    pages = "502-513",
    month = "April",
    year = "2016",
    doi = "https://doi.org/10.1109/tase.2016.2524528",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-091900699",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92786,
    title ="A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses",
    author = "Zhao, Huihua and Horn, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D.",
    
    
    
    pages = "1607-1612",
    month = "December",
    year = "2015",
    doi = "https://doi.org/10.1109/CDC.2015.7402440",
    isbn = "978-1-4799-7886-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-092409166",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92787,
    title ="Continuity and smoothness properties of nonlinear optimization-based feedback controllers",
    author = "Morris, Benjamin J. and Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "151-158",
    month = "December",
    year = "2015",
    doi = "https://doi.org/10.1109/CDC.2015.7402101",
    isbn = "978-1-4799-7886-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-092857644",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92537,
    title ="Robustness of Control Barrier Functions for Safety Critical Control",
    author = "Xu, Xiangru and Tabuada, Paulo and Grizzle, Jessy W. and Ames, Aaron D.",
    journal = "IFAC-PapersOnLine",
    volume = "48",
    number = "27",
    pages = "54-61",
    month = "October",
    year = "2015",
    doi = "https://doi.org/10.1016/j.ifacol.2015.11.152",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190130-162010151",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92792,
    title ="Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition",
    author = "Zhao, Huihua and Reher, Jacob and Horn, Jonathan and Paredes, Victor and Ames, Aaron D.",
    
    
    
    pages = "265-270",
    month = "August",
    year = "2015",
    doi = "https://doi.org/10.1109/icorr.2015.7281210",
    isbn = "978-1-4799-1808-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-103725181",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92799,
    title ="Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars",
    author = "Mehra, Aakar and Ma, Wen-Loong and Berg, Forrest and Tabuada, Paulo and Grizzle, Jessy W. and Ames, Aaron D.",
    
    
    
    pages = "1411-1418",
    month = "July",
    year = "2015",
    doi = "https://doi.org/10.1109/acc.2015.7170931",
    isbn = "978-1-4799-8684-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-132332836",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92794,
    title ="Control barrier function based quadratic programs with application to bipedal robotic walking",
    author = "Hsu, Shao-Chen and Xu, Xiangru and Ames, Aaron D.",
    
    
    
    pages = "4542-4548",
    month = "July",
    year = "2015",
    doi = "https://doi.org/10.1109/ACC.2015.7172044",
    isbn = "978-1-4799-8684-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-112041163",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92793,
    title ="Energy shaping of hybrid systems via control Lyapunov functions",
    author = "Sinnet, Ryan W. and Ames, Aaron D.",
    
    
    
    pages = "5992-5997",
    month = "July",
    year = "2015",
    doi = "https://doi.org/10.1109/ACC.2015.7172280",
    isbn = "978-1-4799-8684-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-110812085",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99908,
    title ="First steps toward formal controller synthesis for bipedal robots",
    author = "Ames, Aaron D. and Tabuada, Paulo and Schürmann, Bastian and Ma, Wen-Loong and Kolathaya, Shishir and Rungger, Matthias and Grizzle, Jessy W.",
    
    
    
    pages = "209-218",
    month = "May",
    year = "2015",
    doi = "https://doi.org/10.1145/2728606.2728611",
    isbn = "978-1-4503-3433-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-150734255",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92801,
    title ="Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking",
    author = "Hereid, Ayonga and Hubicki, Christian M. and Cousineau, Eric A. and Hurst, Jonathan W. and Ames, Aaron D.",
    
    
    
    pages = "5734-5740",
    month = "May",
    year = "2015",
    doi = "https://doi.org/10.1109/icra.2015.7140002",
    isbn = "978-1-4799-6923-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-135734458",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92802,
    title ="Model predictive control of underactuated bipedal robotic walking",
    author = "Powell, Matthew J. and Cousineau, Eric A. and Ames, Aaron D.",
    
    
    
    pages = "5121-5126",
    month = "May",
    year = "2015",
    doi = "https://doi.org/10.1109/ICRA.2015.7139912",
    isbn = "978-1-4799-6923-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-141342852",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92800,
    title ="Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method",
    author = "Cousineau, Eric and Ames, Aaron D.",
    
    
    
    pages = "5747-5753",
    month = "May",
    year = "2015",
    doi = "https://doi.org/10.1109/ICRA.2015.7140004",
    isbn = "978-1-4799-6923-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-134055057",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99899,
    title ="Composing Dynamical Systems to Realize Dynamic Robotic Dancing",
    author = "Kolathaya, Shishir and Ma, Wen-Loong and Ames, Aaron D.",
    
    
    number = "107",
    pages = "425-442",
    month = "April",
    year = "2015",
    doi = "https://doi.org/10.1007/978-3-319-16595-0_25",
    isbn = "978-3-319-16594-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-104601288",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/97334,
    title ="Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control",
    author = "Zhao, Huihua and Reher, Jake and Horn, Jonathan and Paredes, Victor and Ames, Aaron D.",
    
    
    
    pages = "305-306",
    month = "April",
    year = "2015",
    
    isbn = "9781450334334",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190722-155959429",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92808,
    title ="Control barrier function based quadratic programs with application to adaptive cruise control",
    author = "Ames, Aaron D. and Grizzle, Jessy W. and Tabuada, Paulo",
    
    
    
    pages = "6271-6278",
    month = "December",
    year = "2014",
    doi = "https://doi.org/10.1109/CDC.2014.7040372",
    isbn = "978-1-4673-6090-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-153602153",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92842,
    title ="Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control",
    author = "Hereid, Ayonga and Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "2950-2957",
    month = "December",
    year = "2014",
    doi = "https://doi.org/10.1109/CDC.2014.7039843",
    isbn = "978-1-4673-6090-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190211-154815390",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92809,
    title ="Hierarchical control of series elastic actuators through control Lyapunov functions",
    author = "Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "2986-2992",
    month = "December",
    year = "2014",
    doi = "https://doi.org/10.1109/CDC.2014.7039848",
    isbn = "978-1-4673-6090-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-161258821",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92844,
    title ="Preliminary results on correct-by-construction control software synthesis for adaptive cruise control",
    author = "Nilsson, Petter and Hussien, Omar and Chen, Yuxiao and Balkan, Ayca and Rungger, Matthias and Ames, Aaron and Grizzle, Jessy and Ozay, Necmiye and Peng, Huei and Tabuada, Paulo",
    
    
    
    pages = "816-823",
    month = "December",
    year = "2014",
    doi = "https://doi.org/10.1109/cdc.2014.7039482",
    isbn = "978-1-4673-6090-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190212-080911317",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92804,
    title ="Quadratic program based nonlinear embedded control of series elastic actuators",
    author = "Ames, Aaron D. and Holley, James",
    
    
    
    pages = "6291-6298",
    month = "December",
    year = "2014",
    doi = "https://doi.org/10.1109/CDC.2014.7040375",
    isbn = "978-1-4673-6090-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-144246388",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99910,
    title ="Human-inspired walking via unified PD and impedance control",
    author = "Ma, Wen-Loong and Zhao, Hui-Hua and Kolathaya, Shishir and Ames, Aaron D.",
    
    
    
    pages = "5088-5094",
    month = "June",
    year = "2014",
    doi = "https://doi.org/10.1109/icra.2014.6907605",
    isbn = "978-1-4799-3685-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-152814175",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92864,
    title ="Planar multi-contact bipedal walking using hybrid zero dynamics",
    author = "Lack, Jordan and Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "2582-2588",
    month = "June",
    year = "2014",
    doi = "https://doi.org/10.1109/ICRA.2014.6907229",
    isbn = "978-1-4799-3685-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-073752984",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/97339,
    title ="Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion",
    author = "Zhao, Huihua and Ames, Aaron D.",
    
    
    
    pages = "4101-4107",
    month = "June",
    year = "2014",
    
    isbn = "9781479932726",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190722-162619788",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92865,
    title ="Quadratic programming and impedance control for transfemoral prosthesis",
    author = "Zhao, Huihua and Kolathaya, Shishir and Ames, Aaron D.",
    
    
    
    pages = "1341-1347",
    month = "June",
    year = "2014",
    doi = "https://doi.org/10.1109/ICRA.2014.6907026",
    isbn = "978-1-4799-3685-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-074209852",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99909,
    title ="Human-inspired multi-contact locomotion with AMBER2",
    author = "Zhao, Hui-Hua and Ma, Wen-Loong and Ames, Aaron D. and Zeagler, Michael B.",
    
    
    
    pages = "199-210",
    month = "April",
    year = "2014",
    doi = "https://doi.org/10.1109/iccps.2014.6843723",
    isbn = "978-1-4799-4930-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-152240499",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/97340,
    title ="Learning impedance controller parameters for lower-limb prostheses",
    author = "Aghasadeghi, Navid and Zhao, Huihua and Hargrove, Levi J. and Ames, Aaron D. and Perreault, Eric J. and Bretl, Timothy",
    
    
    
    pages = "4268-4274",
    month = "November",
    year = "2013",
    doi = "https://doi.org/10.1109/IROS.2013.6696968",
    isbn = "9781467363587",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190722-164824084",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92867,
    title ="Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics",
    author = "Powell, Matthew J. and Hereid, Ayonga and Ames, Aaron D.",
    
    
    
    pages = "4803-4810",
    month = "May",
    year = "2013",
    doi = "https://doi.org/10.1109/ICRA.2013.6631262",
    isbn = "978-1-4673-5643-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-075009850",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92605,
    title ="Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs",
    author = "Galloway, Kevin and Sreenath, Koushil and Ames, Aaron D. and Grizzle, J. W.",
    journal = "arXiv",
    
    
    
    month = "February",
    year = "2013",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160848999",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92874,
    title ="Control Lyapunov functions and hybrid zero dynamics",
    author = "Ames, Aaron D. and Galloway, Kevin and Grizzle, J. W.",
    
    
    
    pages = "6837-6842",
    month = "December",
    year = "2012",
    doi = "https://doi.org/10.1109/CDC.2012.6426229",
    isbn = "978-1-4673-2066-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-085922450",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92873,
    title ="Achieving bipedal locomotion on rough terrain through human-inspired control",
    author = "Kolathaya, Shishir and Ames, Aaron D.",
    
    
    
    pages = "1-6",
    month = "November",
    year = "2012",
    doi = "https://doi.org/10.1109/SSRR.2012.6523897",
    isbn = "978-1-4799-0165-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-085525671",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92960,
    title ="A Core Language for Executable Models of Cyber-Physical Systems (Preliminary Report)",
    author = "Taha, Walid and Brauner, Paul and Zeng, Yingfu and Cartwright, Robert and Gaspes, Veronica and Ames, Aaron and Chapoutot, Alexandre",
    
    
    
    pages = "303-308",
    month = "June",
    year = "2012",
    doi = "https://doi.org/10.1109/icdcsw.2012.72",
    isbn = "9781467314237",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190215-142949580",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92878,
    title ="Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction",
    author = "Sinnet, Ryan W. and Ames, Aaron D.",
    
    
    
    pages = "4831-4836",
    month = "June",
    year = "2012",
    doi = "https://doi.org/10.1109/ACC.2012.6315667",
    isbn = "978-1-4577-1096-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-100504950",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92957,
    title ="Outputs of human walking for bipedal robotic controller design",
    author = "Jiang, Shu and Partrick, Shawanee and Zhao, Huihua and Ames, Aaron D.",
    
    
    
    pages = "4843-4848",
    month = "June",
    year = "2012",
    doi = "https://doi.org/10.1109/ACC.2012.6315648",
    isbn = "978-1-4577-1096-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190215-125345208",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92877,
    title ="Zeno behavior in electromechanical hybrid systems: From theory to experimental validation",
    author = "Yadukumar, Shishir Nadubettu and Kothapalli, Bhargav and Ames, Aaron D.",
    
    
    
    pages = "2437-2442",
    month = "June",
    year = "2012",
    doi = "https://doi.org/10.1109/ACC.2012.6315696",
    isbn = "978-1-4577-1096-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-095536575",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93006,
    title ="Compass gait revisited: A human data perspective with extensions to three dimensions",
    author = "Sinnet, Ryan W. and Powell, Matthew J. and Jiang, Shu and Ames, Aaron D.",
    
    
    
    pages = "682-689",
    month = "December",
    year = "2011",
    doi = "https://doi.org/10.1109/CDC.2011.6161473",
    isbn = "978-1-61284-801-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190220-105431416",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93007,
    title ="Rank deficiency and superstability of hybrid systems with application to bipedal robots",
    author = "Wendel, Eric and Ames, Aaron D.",
    
    
    
    pages = "7422-7427",
    month = "December",
    year = "2011",
    doi = "https://doi.org/10.1109/CDC.2011.6160972",
    isbn = "978-1-61284-801-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190220-110834216",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93235,
    title ="Simulating prosthetic devices with human-inspired hybrid control",
    author = "Sinnet, Ryan W. and Zhao, Huihua and Ames, Aaron D.",
    
    
    
    pages = "1723-1730",
    month = "September",
    year = "2011",
    doi = "https://doi.org/10.1109/IROS.2011.6095186",
    isbn = "978-1-61284-456-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190225-142546398",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92618,
    title ="Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems",
    author = "Or, Yizhar and Ames, Aaron D.",
    journal = "IEEE Transactions on Automatic Control",
    volume = "56",
    number = "6",
    pages = "1322-1336",
    month = "June",
    year = "2011",
    doi = "https://doi.org/10.1109/TAC.2010.2080790",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190204-092954756",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93249,
    title ="2D bipedal walking with knees and feet: A hybrid control approach",
    author = "Sinnet, Ryan W. and Ames, Aaron D.",
    
    
    
    pages = "3200-3207",
    month = "December",
    year = "2009",
    doi = "https://doi.org/10.1109/CDC.2009.5400503",
    isbn = "978-1-4244-3872-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190226-091428821",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93259,
    title ="3D bipedal walking with knees and feet: A hybrid geometric approach",
    author = "Sinnet, Ryan W. and Ames, Aaron D.",
    
    
    
    pages = "3208-3213",
    month = "December",
    year = "2009",
    doi = "https://doi.org/10.1109/CDC.2009.5400457",
    isbn = "978-1-4244-3872-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190226-094520804",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/18180,
    title ="Formal and practical completion of Lagrangian hybrid systems",
    author = "Or, Yizhar and Ames, Aaron D.",
    
    
    
    pages = "3624-3631",
    month = "June",
    year = "2009",
    doi = "https://doi.org/10.1109/ACC.2009.5159852 ",
    isbn = "978-1-4244-4523-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100507-093509335",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/18668,
    title ="Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems",
    author = "Or, Yizhar and Ames, Aaron D.",
    
    volume = "5469",
    number = "5469",
    pages = "291-305",
    month = "April",
    year = "2009",
    doi = "https://doi.org/10.1007/978-3-642-00602-9_21",
    isbn = "978-3-642-00601-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100614-134937637",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93395,
    title ="On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria",
    author = "Lamperski, Andrew and Ames, Aaron D.",
    
    
    
    pages = "2776-2781",
    month = "December",
    year = "2008",
    doi = "https://doi.org/10.1109/CDC.2008.4739100",
    isbn = "978-1-4244-3124-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190301-113954983",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93265,
    title ="Stability of Zeno equilibria in Lagrangian hybrid systems",
    author = "Or, Yizhar and Ames, Aaron D.",
    
    
    
    pages = "2770-2775",
    month = "December",
    year = "2008",
    doi = "https://doi.org/10.1109/CDC.2008.4739235",
    isbn = "978-1-4244-3124-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190226-103320953",
}
@techreport {CaltechCDSTR_https://authors.library.caltech.edu/id/eprint/28135,
    title ="Stability of Zeno Equilibria in Lagrangian Hybrid Systems",
    author = "Or, Yizhar and Ames, Aaron D.",
    journal = "IEEE Transactions on Automatic Control",
    volume = "56",
    
    pages = "1322-1336",
    month = "August",
    year = "2008",
    
    
    url = "https://resolver.caltech.edu/CaltechCDSTR:2008.002",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19135,
    title ="Sufficient conditions for Zeno behavior in Lagrangian hybrid systems",
    author = "Lamperski, Andrew and Ames, Aaron D.",
    
    
    number = "4981",
    pages = "622-625",
    month = "July",
    year = "2008",
    doi = "https://doi.org/10.1007/978-3-540-78929-1_49",
    isbn = "978-3-540-78928-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100720-154109791",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/18762,
    title ="Complexity and fragility in stability for linear systems",
    author = "Ames, Aaron D. and Doyle, John C.",
    
    
    
    pages = "1630-1637",
    month = "June",
    year = "2008",
    doi = "https://doi.org/10.1109/ACC.2008.4586725 ",
    isbn = "978-1-4244-2078-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100622-135915127",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19878,
    title ="Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems",
    author = "Lamperski, Andrew and Ames, Aaron D.",
    
    
    
    pages = "115-120",
    month = "January",
    year = "2008",
    
    isbn = "978-1-4244-1497-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100910-155719194",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19430,
    title ="Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations",
    author = "Ames, Aaron D. and Abate, Alessandro and Sastry, Shankar",
    
    
    
    pages = "5420-5425",
    month = "January",
    year = "2008",
    
    isbn = "978-1-4244-1497-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100813-134422032",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19431,
    title ="A geometric approach to three-dimensional hipped bipedal robotic walking",
    author = "Ames, Aaron D. and Gregg, Robert D. and Spong, Mark W.",
    
    
    
    pages = "5348-5355",
    month = "December",
    year = "2007",
    doi = "https://doi.org/10.1109/CDC.2007.4434880  ",
    isbn = "978-1-4244-1497-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100813-141525838",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19511,
    title ="Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions",
    author = "Ames, Aaron D. and Gregg, Robert D.",
    
    
    
    pages = "5658-5664",
    month = "July",
    year = "2007",
    doi = "https://doi.org/10.1109/ACC.2007.4283081  ",
    isbn = "978-1-4244-0988-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100819-110032829",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/98074,
    title ="Composition of Dynamical Systems for Estimation of Human Body Dynamics",
    author = "Ganesh, Sumitra and Ames, Aaron D. and Bajcsy, Ruzena",
    
    
    number = "4416",
    pages = "702-705",
    month = "May",
    year = "2007",
    doi = "https://doi.org/10.1007/978-3-540-71493-4_65",
    isbn = "978-3-540-71492-7",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190821-103851149",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/20306,
    title ="Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped",
    author = "Pekarek, David and Ames, Aaron D. and Marsden, Jerrold E.",
    
    
    
    pages = "5376-5382",
    month = "January",
    year = "2007",
    
    isbn = "978-1-4244-1497-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20101005-121327216",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19509,
    title ="Homotopy Meaningful Hybrid Model Structures",
    author = "Ames, Aaron D.",
    
    
    number = "438",
    pages = "121-144",
    month = "January",
    year = "2007",
    
    
    isbn = "978-0-8218-4246-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100819-104123296",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19507,
    title ="On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers",
    author = "Ames, Aaron D. and Gregg, Robert D. and Wendel, Eric D. B. and Sastry, Shankar",
    
    
    number = "366",
    pages = "183-196",
    month = "January",
    year = "2007",
    doi = "https://doi.org/10.1007/978-3-540-73890-9_14",
    isbn = "978-3-540-73889-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100819-102549602",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/77361,
    title ="Approximate Reduction of Dynamical Systems",
    author = "Tabuada, Paulo and Ames, Aaron D. and Julius, Agung and Pappas, George",
    
    
    
    pages = "6408-6413",
    month = "December",
    year = "2006",
    doi = "https://doi.org/10.1109/CDC.2006.377156",
    isbn = "1-4244-0171-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170510-174336817",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93520,
    title ="A priori detection of Zeno behavior in communication networks modeled as hybrid systems",
    author = "Abate, Alessandro and Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "3340-3345",
    month = "June",
    year = "2006",
    doi = "https://doi.org/10.1109/ACC.2006.1657234",
    isbn = "1-4244-0209-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190305-084057276",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93632,
    title ="Error bounds based stochastic approximations and simulations of hybrid dynamical systems",
    author = "Abate, Alessandro and Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "4742-4747",
    month = "June",
    year = "2006",
    doi = "https://doi.org/10.1109/ACC.2006.1657470",
    isbn = "1-4244-0209-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190307-105929555",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93633,
    title ="Hybrid Routhian reduction of Lagrangian hybrid systems",
    author = "Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "2640-2645",
    month = "June",
    year = "2006",
    doi = "https://doi.org/10.1109/ACC.2006.1656621",
    isbn = "1-4244-0209-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190307-110301990",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93593,
    title ="Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry",
    author = "Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "2646-2651",
    month = "June",
    year = "2006",
    doi = "https://doi.org/10.1109/ACC.2006.1656622",
    isbn = "1-4244-0209-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190306-123956663",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93598,
    title ="Is there life after Zeno? Taking executions past the breaking (Zeno) point",
    author = "Ames, Aaron D. and Zheng, Haiyang and Gregg, Robert D. and Sastry, Shankar",
    
    
    
    pages = "2652-2657",
    month = "June",
    year = "2006",
    doi = "https://doi.org/10.1109/ACC.2006.1656623",
    isbn = "1-4244-0209-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190306-131542421",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/21820,
    title ="Hybrid Geometric Reduction of Hybrid Systems",
    author = "Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "923-929",
    month = "January",
    year = "2006",
    
    isbn = "978-1-4244-0170-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20110120-091215904",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93634,
    title ="On the Partitioning of Syntax and Semantics For Hybrid Systems Tools",
    author = "Sprinkle, Jonathan and Ames, Aaron D. and Pinto, Alessandro and Zheng, Haiyang and Sastry, S. Shankar",
    
    
    
    pages = "4694-4699",
    month = "December",
    year = "2005",
    doi = "https://doi.org/10.1109/CDC.2005.1582903",
    isbn = "0-7803-9567-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190307-111103826",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93514,
    title ="Sufficient Conditions for the Existence of Zeno Behavior",
    author = "Ames, Aaron D. and Abate, Alessandro and Sastry, Shankar",
    
    
    
    pages = "696-701",
    month = "December",
    year = "2005",
    doi = "https://doi.org/10.1109/CDC.2005.1582237",
    isbn = "0-7803-9568-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190305-074933127",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93476,
    title ="Characterization of Zeno behavior in hybrid systems using homological methods",
    author = "Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "1160-1165",
    month = "June",
    year = "2005",
    doi = "https://doi.org/10.1109/ACC.2005.1470118",
    isbn = "0-7803-9098-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190304-152359371",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93513,
    title ="Stochastic approximations of hybrid systems",
    author = "Abate, Alessandro and Ames, Aaron D. and Sastry, S. Shankar",
    
    volume = "3",
    
    pages = "1557-1562",
    month = "June",
    year = "2005",
    doi = "https://doi.org/10.1109/ACC.2005.1470189",
    isbn = "0-7803-9098-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190305-074604391",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93637,
    title ="Blowing up affine hybrid systems",
    author = "Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "473-478",
    month = "December",
    year = "2004",
    doi = "https://doi.org/10.1109/CDC.2004.1428675",
    isbn = "0-7803-8682-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190307-123634418",
}